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<div class="title">W:/Products/Vtl/branches/v1.0/Vtl/Vtl/include/Vtl/impl/geometry.hpp</div>  </div>
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<a href="geometry_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00002"></a>00002 <span class="keyword">namespace </span>Vtl
<a name="l00003"></a>00003 {
<a name="l00004"></a>00004         <span class="keyword">namespace </span>geometry
<a name="l00005"></a>00005         {
<a name="l00006"></a>00006                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dimension&gt;
<a name="l00007"></a><a class="code" href="namespace_vtl_1_1geometry.html#a0006f2fd6012e5827737b6de48073423">00007</a>                 <span class="keyword">inline</span> Scalar <a class="code" href="namespace_vtl_1_1geometry.html#a0006f2fd6012e5827737b6de48073423" title="Returns the shortest distance between the point and line. Also is the length of the perpendicular lin...">pointToLineDistance</a> (<span class="keyword">const</span> Eigen::Matrix&lt;Scalar,Dimension,1&gt; &amp;_Point,
<a name="l00008"></a>00008                         <span class="keyword">const</span> Eigen::ParametrizedLine&lt;Scalar,Dimension&gt; &amp;_Line)
<a name="l00009"></a>00009                 {
<a name="l00010"></a>00010                         <span class="keywordflow">return</span> sqrtl(<a class="code" href="namespace_vtl_1_1geometry.html#a1eb5efb6f741f2a0eadd1d3d5ea0814d" title="Returns the shortest squared distance between the point and line. Also is the squared length of the p...">sqPointToLineDistance</a>(_Point,_Line));
<a name="l00011"></a>00011                 }
<a name="l00012"></a>00012 
<a name="l00013"></a>00013                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dimension&gt;
<a name="l00014"></a><a class="code" href="namespace_vtl_1_1geometry.html#a1eb5efb6f741f2a0eadd1d3d5ea0814d">00014</a>                 <span class="keyword">inline</span> Scalar <a class="code" href="namespace_vtl_1_1geometry.html#a1eb5efb6f741f2a0eadd1d3d5ea0814d" title="Returns the shortest squared distance between the point and line. Also is the squared length of the p...">sqPointToLineDistance</a> (<span class="keyword">const</span> Eigen::Matrix&lt;Scalar,Dimension,1&gt; &amp;_Point,
<a name="l00015"></a>00015                         <span class="keyword">const</span> Eigen::ParametrizedLine&lt;Scalar,Dimension&gt; &amp;_Line)
<a name="l00016"></a>00016                 {
<a name="l00017"></a>00017                         <span class="keyword">typedef</span> Eigen::Matrix&lt;Scalar, Dimension, 1&gt; VectorType;        
<a name="l00018"></a>00018                         <span class="keyword">typedef</span> Eigen::Matrix&lt;Scalar, 3, 1&gt; VectorType3D;
<a name="l00019"></a>00019                         VectorType3D line_dir = <a class="code" href="namespace_vtl_1_1common.html#a098b2df81e6cc14cbf9697452e836f93" title="Converts the given vector to 3D using the given K value for [i,j, K].">common::convertTo3D</a>(_Line.direction(),0.0);
<a name="l00020"></a>00020                         VectorType3D line_origin = <a class="code" href="namespace_vtl_1_1common.html#a098b2df81e6cc14cbf9697452e836f93" title="Converts the given vector to 3D using the given K value for [i,j, K].">common::convertTo3D</a>(_Line.origin(),0.0);
<a name="l00021"></a>00021                         VectorType3D point = <a class="code" href="namespace_vtl_1_1common.html#a098b2df81e6cc14cbf9697452e836f93" title="Converts the given vector to 3D using the given K value for [i,j, K].">common::convertTo3D</a>(_Point,0.0);        
<a name="l00022"></a>00022                         <span class="keywordflow">return</span> Scalar(line_dir.cross(line_origin - point).squaredNorm() / line_dir.squaredNorm());
<a name="l00023"></a>00023                 }
<a name="l00024"></a>00024 
<a name="l00025"></a>00025                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dimension&gt;
<a name="l00026"></a><a class="code" href="namespace_vtl_1_1geometry.html#a14dd225ac9b2333d6a0c6e1bfce320bb">00026</a>                 <span class="keyword">inline</span> Scalar <a class="code" href="namespace_vtl_1_1geometry.html#a14dd225ac9b2333d6a0c6e1bfce320bb" title="Returns the closest point on the line(Ray).">closestPointOnLine</a>(<span class="keyword">const</span> Eigen::ParametrizedLine&lt;Scalar,Dimension&gt; &amp;_Line, 
<a name="l00027"></a>00027                         <span class="keyword">const</span> Eigen::Matrix&lt;Scalar,Dimension,1&gt; &amp;_Point)
<a name="l00028"></a>00028                 {
<a name="l00029"></a>00029                         <span class="keyword">typedef</span> Eigen::Matrix&lt;Scalar, Dimension, 1&gt; VectorType;
<a name="l00030"></a>00030                         VectorType u = _Line.direction();
<a name="l00031"></a>00031                         VectorType v = _Point - _Line.origin();
<a name="l00032"></a>00032                         <span class="keywordflow">return</span> Scalar(v.dot(u)/u.dot(u));
<a name="l00033"></a>00033                 }
<a name="l00034"></a>00034 
<a name="l00035"></a>00035                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dimension&gt;
<a name="l00036"></a><a class="code" href="namespace_vtl_1_1geometry.html#a989a89aa67209541aa19170e3a6089d5">00036</a>                 <span class="keyword">inline</span> Scalar <a class="code" href="namespace_vtl_1_1geometry.html#a989a89aa67209541aa19170e3a6089d5">closestPointOnLineSegment</a>(<span class="keyword">const</span> Eigen::ParametrizedLine&lt;Scalar,Dimension&gt; &amp;_Line, 
<a name="l00037"></a>00037                         <span class="keyword">const</span> Eigen::Matrix&lt;Scalar,Dimension,1&gt; &amp;_Point)
<a name="l00038"></a>00038                 {
<a name="l00039"></a>00039                         <span class="keyword">typedef</span> Eigen::Matrix&lt;Scalar, Dimension, 1&gt; VectorType;
<a name="l00040"></a>00040                         Scalar l = _Line.direction().norm();
<a name="l00041"></a>00041                         Scalar t = <a class="code" href="namespace_vtl_1_1geometry.html#a14dd225ac9b2333d6a0c6e1bfce320bb" title="Returns the closest point on the line(Ray).">closestPointOnLine</a>(_Line, _Point);
<a name="l00042"></a>00042                         <span class="keywordflow">if</span> (t &lt; 0) { t = 0; }
<a name="l00043"></a>00043                         <span class="keywordflow">else</span> <span class="keywordflow">if</span> (t &gt; 1) { t = 1; }
<a name="l00044"></a>00044                         <span class="keywordflow">return</span> t;
<a name="l00045"></a>00045                 }
<a name="l00046"></a>00046 
<a name="l00047"></a>00047                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dimension&gt;
<a name="l00048"></a><a class="code" href="namespace_vtl_1_1geometry.html#a7b87e4beaa2a5ccef63a4b44d3e12e29">00048</a>                 <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespace_vtl_1_1geometry.html#a7b87e4beaa2a5ccef63a4b44d3e12e29" title="Checks if the vectors are almost parallel to each other.">vectorParallelTovector</a>(<span class="keyword">const</span> Eigen::Matrix&lt;Scalar,Dimension,1&gt; &amp;_DirA, 
<a name="l00049"></a>00049                         <span class="keyword">const</span> Eigen::Matrix&lt;Scalar,Dimension,1&gt; &amp;_DirB,
<a name="l00050"></a>00050                         <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;_Eps <span class="comment">/*= 1e-4*/</span>)
<a name="l00051"></a>00051                 {
<a name="l00052"></a>00052                         <span class="keyword">typedef</span> Eigen::Matrix&lt;Scalar, 3, 1&gt; VectorType3D;
<a name="l00053"></a>00053                         VectorType3D dir_a = <a class="code" href="namespace_vtl_1_1common.html#a098b2df81e6cc14cbf9697452e836f93" title="Converts the given vector to 3D using the given K value for [i,j, K].">common::convertTo3D</a>(_DirA);
<a name="l00054"></a>00054                         VectorType3D dir_b = <a class="code" href="namespace_vtl_1_1common.html#a098b2df81e6cc14cbf9697452e836f93" title="Converts the given vector to 3D using the given K value for [i,j, K].">common::convertTo3D</a>(_DirB);
<a name="l00055"></a>00055                         <span class="keywordflow">return</span> (dir_a.cross(dir_b).squaredNorm() &lt; _Eps) ? <span class="keyword">true</span>: <span class="keyword">false</span>;
<a name="l00056"></a>00056                 }
<a name="l00057"></a>00057 
<a name="l00058"></a>00058                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dimension&gt;
<a name="l00059"></a><a class="code" href="namespace_vtl_1_1geometry.html#ab862bc7c7ed9ccd7bdd635b523978526">00059</a>                 <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespace_vtl_1_1geometry.html#ab862bc7c7ed9ccd7bdd635b523978526" title="Checks if the given line(Ray) goes through the point.">pointOnLine</a>(<span class="keyword">const</span> Eigen::Matrix&lt;Scalar,Dimension,1&gt; &amp;_Point, 
<a name="l00060"></a>00060                         <span class="keyword">const</span> Eigen::ParametrizedLine&lt;Scalar,Dimension&gt; &amp;_Line,
<a name="l00061"></a>00061                         <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;_Eps <span class="comment">/*= 1e-4*/</span>)
<a name="l00062"></a>00062                 {
<a name="l00063"></a>00063                         <span class="keywordflow">return</span> (<a class="code" href="namespace_vtl_1_1geometry.html#a1eb5efb6f741f2a0eadd1d3d5ea0814d" title="Returns the shortest squared distance between the point and line. Also is the squared length of the p...">sqPointToLineDistance</a>(_Point,_Line) &lt; _Eps)? <span class="keyword">true</span>:<span class="keyword">false</span>;
<a name="l00064"></a>00064                 }
<a name="l00065"></a>00065 
<a name="l00066"></a>00066                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dimension&gt;
<a name="l00067"></a><a class="code" href="namespace_vtl_1_1geometry.html#a7b062e373a0a37d6eabaa7e56c8e3a27">00067</a>                 <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespace_vtl_1_1geometry.html#a7b062e373a0a37d6eabaa7e56c8e3a27" title="Checks if the given line segment (from start to end of line only) goes through the point...">pointOnLineSegment</a>(<span class="keyword">const</span> Eigen::Matrix&lt;Scalar,Dimension,1&gt; &amp;_Point, 
<a name="l00068"></a>00068                         <span class="keyword">const</span> Eigen::ParametrizedLine&lt;Scalar,Dimension&gt; &amp;_Line,
<a name="l00069"></a>00069                         <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;_Eps <span class="comment">/*= 1e-4*/</span>)
<a name="l00070"></a>00070                 {
<a name="l00071"></a>00071                         <span class="keyword">typedef</span> Eigen::Matrix&lt;Scalar, Dimension, 1&gt; VectorType;
<a name="l00072"></a>00072                         VectorType point = _Line.origin() + _Line.direction() * <a class="code" href="namespace_vtl_1_1geometry.html#a989a89aa67209541aa19170e3a6089d5">closestPointOnLineSegment</a>(_Line, _Point);
<a name="l00073"></a>00073                         <span class="keywordflow">if</span>((_Point - point).squaredNorm() &lt; _Eps)
<a name="l00074"></a>00074                                 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00075"></a>00075                         <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00076"></a>00076                 }
<a name="l00077"></a>00077 
<a name="l00078"></a>00078                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dimension&gt;
<a name="l00079"></a><a class="code" href="namespace_vtl_1_1geometry.html#a88cd07d2a032075bcd62fbdaf57d3bb5">00079</a>                 <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespace_vtl_1_1geometry.html#a88cd07d2a032075bcd62fbdaf57d3bb5" title="Checks if the given point is inside the Polygon face.">pointInPolygon</a>(<span class="keyword">const</span> Eigen::Matrix&lt;Scalar,Dimension,1&gt; &amp;_Point, 
<a name="l00080"></a>00080                         <span class="keyword">const</span> <a class="code" href="class_vtl_1_1_polygon.html">Polygon&lt;Scalar, Dimension&gt;</a> &amp;_Polygon)
<a name="l00081"></a>00081                 {
<a name="l00082"></a>00082                         <span class="keywordflow">if</span>(!_Polygon.<a class="code" href="class_vtl_1_1_polygon.html#aedf8c62294cb6547c81544b5139d604d" title="Returns the bounding box.">getBoundingBox</a>().Contains(_Point))
<a name="l00083"></a>00083                                 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00084"></a>00084 
<a name="l00085"></a>00085                         <span class="keywordtype">int</span> nvert = _Polygon.<a class="code" href="class_vtl_1_1_polygon.html#a365f08056e2072dde33bbfa552a5c505" title="Returns the vertex count in the array.">getVertexCount</a>();
<a name="l00086"></a>00086                         <span class="keywordtype">int</span> i, j = 0;
<a name="l00087"></a>00087                         <span class="keywordtype">bool</span> odd_nodes = <span class="keyword">false</span>;
<a name="l00088"></a>00088                         <span class="keywordflow">for</span> (i = 0, j = nvert - 1; i &lt; nvert; j = i++)
<a name="l00089"></a>00089                         {
<a name="l00090"></a>00090                                 <span class="keywordflow">if</span> (((_Polygon[i](1) &gt; _Point(1)) != (_Polygon[j](1) &gt; _Point(1)))
<a name="l00091"></a>00091                                         &amp;&amp; (_Point(0) &lt; (_Polygon[j](0) - _Polygon[i](0)) * (_Point(1) - _Polygon[i](1)) / (_Polygon[j](1) - _Polygon[i](1)) + _Polygon[i](0)))
<a name="l00092"></a>00092                                 {
<a name="l00093"></a>00093                                         odd_nodes = !odd_nodes;
<a name="l00094"></a>00094                                 }
<a name="l00095"></a>00095                         }
<a name="l00096"></a>00096                         <span class="keywordflow">return</span> odd_nodes;
<a name="l00097"></a>00097                 }
<a name="l00098"></a>00098         };
<a name="l00099"></a>00099 
<a name="l00100"></a>00100 };
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